2
 -0.863429   0.478912  -0.158537 -0.0571745
  0.471976   0.655922  -0.589071  0.0160055
 -0.178126  -0.583447  -0.792377   0.825459
         0          0          0          1
-0.491681  0.856238 -0.158455  0.189117
  0.72816  0.304497 -0.614056  0.125475
-0.477528   -0.4173 -0.773194  0.679655
        0         0         0         1
